add App_PhysicsServerTCP and App_PhysicsServerSharedMemoryBridgeTCP
(can be easier tunneled over SSH)
This commit is contained in:
Erwin Coumans
223
examples/SharedMemory/tcp/main.cpp
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223
examples/SharedMemory/tcp/main.cpp
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@@ -0,0 +1,223 @@
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#include "PassiveSocket.h" // Include header for active socket object definition
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#include <stdio.h>
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#include "../../CommonInterfaces/CommonGUIHelperInterface.h"
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#include "Bullet3Common/b3CommandLineArgs.h"
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#ifdef NO_SHARED_MEMORY
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#include "PhysicsServerCommandProcessor.h"
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typedef PhysicsServerCommandProcessor MyCommandProcessor;
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#else
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#include "SharedMemoryCommandProcessor.h"
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typedef SharedMemoryCommandProcessor MyCommandProcessor;
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#endif //NO_SHARED_MEMORY
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#include "SharedMemoryCommands.h"
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#include "Bullet3Common/b3AlignedObjectArray.h"
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#include "PhysicsServerCommandProcessor.h"
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#include "../Utils/b3Clock.h"
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#define MAX_PACKET 4096
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bool gVerboseNetworkMessagesServer = true;
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void MySerializeInt(unsigned int sz, unsigned char* output)
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{
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unsigned int tmp = sz;
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output[0] = tmp & 255;
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tmp = tmp >> 8;
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output[1] = tmp & 255;
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tmp = tmp >> 8;
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output[2] = tmp & 255;
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tmp = tmp >> 8;
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output[3] = tmp & 255;
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}
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int main(int argc, char *argv[])
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{
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b3CommandLineArgs parseArgs(argc,argv);
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b3Clock clock;
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double timeOutInSeconds = 10;
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DummyGUIHelper guiHelper;
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MyCommandProcessor* sm = new MyCommandProcessor;
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sm->setGuiHelper(&guiHelper);
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int port = 6667;
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if (parseArgs.GetCmdLineArgument("port",port))
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{
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printf("Using TCP port %d\n", port);
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}
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gVerboseNetworkMessagesServer = parseArgs.CheckCmdLineFlag("verbose");
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#ifndef NO_SHARED_MEMORY
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int key = 0;
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if (parseArgs.GetCmdLineArgument("sharedMemoryKey",key))
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{
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sm->setSharedMemoryKey(key);
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}
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#endif//NO_SHARED_MEMORY
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bool isPhysicsClientConnected = sm->connect();
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bool exitRequested = false;
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if (isPhysicsClientConnected)
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{
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CPassiveSocket socket;
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CActiveSocket *pClient = NULL;
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//--------------------------------------------------------------------------
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// Initialize our socket object
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//--------------------------------------------------------------------------
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socket.Initialize();
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socket.Listen("localhost", port);
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while (!exitRequested)
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{
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b3Clock::usleep(0);
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if ((pClient = socket.Accept()) != NULL)
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{
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int clientPort = socket.GetClientPort();
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printf("connected from %s:%d\n", socket.GetClientAddr(),clientPort);
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//----------------------------------------------------------------------
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// Receive request from the client.
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//----------------------------------------------------------------------
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while (1)
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{
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//printf("try receive\n");
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bool receivedData = false;
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if (pClient->Receive(MAX_PACKET))
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{
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char* msg = (char*) pClient->GetData();
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int numBytesRec = pClient->GetBytesReceived();
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if (gVerboseNetworkMessagesServer)
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{
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printf("received message length [%d]\n",numBytesRec);
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}
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receivedData = true;
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if (strncmp(msg,"stop",4)==0)
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{
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printf("Stop request received\n");
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exitRequested = true;
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break;
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}
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SharedMemoryCommand cmd;
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SharedMemoryCommand* cmdPtr = 0;
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//performance test
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if (numBytesRec == sizeof(int))
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{
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cmdPtr = &cmd;
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cmd.m_type = *(int*)pClient->GetData();
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}
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if (numBytesRec == sizeof(SharedMemoryCommand))
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{
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cmdPtr = (SharedMemoryCommand*)pClient->GetData();
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}
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if (cmdPtr)
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{
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SharedMemoryStatus serverStatus;
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b3AlignedObjectArray<char> buffer;
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buffer.resize(SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
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bool hasStatus = sm->processCommand(*cmdPtr,serverStatus, &buffer[0], buffer.size());
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double startTimeSeconds = clock.getTimeInSeconds();
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double curTimeSeconds = clock.getTimeInSeconds();
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while ((!hasStatus) && ((curTimeSeconds - startTimeSeconds) <timeOutInSeconds))
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{
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hasStatus = sm->receiveStatus(serverStatus, &buffer[0], buffer.size());
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curTimeSeconds = clock.getTimeInSeconds();
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}
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if (gVerboseNetworkMessagesServer)
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{
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printf("buffer.size = %d\n", buffer.size());
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printf("serverStatus.m_numDataStreamBytes = %d\n", serverStatus.m_numDataStreamBytes);
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}
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if (hasStatus)
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{
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b3AlignedObjectArray<unsigned char> packetData;
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unsigned char* statBytes = (unsigned char*)&serverStatus;
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if (cmdPtr->m_type == CMD_STEP_FORWARD_SIMULATION)
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{
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packetData.resize(4 + sizeof(int));
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int sz = packetData.size();
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int curPos = 0;
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MySerializeInt(sz, &packetData[curPos]);
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curPos += 4;
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for (int i = 0; i < sizeof(int); i++)
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{
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packetData[i + curPos] = statBytes[i];
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}
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curPos += sizeof(int);
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pClient->Send( &packetData[0], packetData.size() );
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}
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else
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{
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//create packetData with [int packetSizeInBytes, status, streamBytes)
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packetData.resize(4 + sizeof(SharedMemoryStatus) + serverStatus.m_numDataStreamBytes);
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int sz = packetData.size();
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int curPos = 0;
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MySerializeInt(sz, &packetData[curPos]);
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curPos += 4;
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for (int i = 0; i < sizeof(SharedMemoryStatus); i++)
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{
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packetData[i + curPos] = statBytes[i];
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}
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curPos += sizeof(SharedMemoryStatus);
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for (int i = 0; i < serverStatus.m_numDataStreamBytes; i++)
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{
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packetData[i + curPos] = buffer[i];
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}
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pClient->Send( &packetData[0], packetData.size() );
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}
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}
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}
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else
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{
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printf("received packet with unknown contents\n");
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}
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}
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if (!receivedData)
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{
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printf("Didn't receive data.\n");
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break;
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}
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}
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printf("Disconnecting client.\n");
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pClient->Close();
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delete pClient;
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}
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}
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socket.Close();
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socket.Shutdown(CSimpleSocket::Both);
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}
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delete sm;
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return 0;
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}
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141
examples/SharedMemory/tcp/premake4.lua
Normal file
141
examples/SharedMemory/tcp/premake4.lua
Normal file
@@ -0,0 +1,141 @@
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project ("App_PhysicsServerSharedMemoryBridgeTCP")
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language "C++"
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kind "ConsoleApp"
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includedirs {"../../ThirdPartyLibs/clsocket/src","../../../src",".."}
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if os.is("Windows") then
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defines { "WIN32" }
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links {"Ws2_32","Winmm"}
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end
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if os.is("Linux") then
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defines {"_LINUX"}
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end
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if os.is("MacOSX") then
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defines {"_DARWIN"}
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end
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links {
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"clsocket",
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"BulletFileLoader",
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"Bullet3Common",
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"LinearMath"
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}
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files {
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"main.cpp",
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"../PhysicsClient.cpp",
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"../PhysicsClient.h",
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"../PhysicsDirect.cpp",
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"../PhysicsDirect.h",
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"../PhysicsCommandProcessorInterface.h",
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"../SharedMemoryCommandProcessor.cpp",
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"../SharedMemoryCommandProcessor.h",
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"../PhysicsClientC_API.cpp",
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"../PhysicsClientC_API.h",
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"../Win32SharedMemory.cpp",
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"../Win32SharedMemory.h",
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"../PosixSharedMemory.cpp",
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"../PosixSharedMemory.h",
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"../../Utils/b3ResourcePath.cpp",
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"../../Utils/b3ResourcePath.h",
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"../../Utils/b3Clock.cpp",
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"../../Utils/b3Clock.h",
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}
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project "App_PhysicsServerTCP"
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if _OPTIONS["ios"] then
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kind "WindowedApp"
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else
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kind "ConsoleApp"
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end
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defines { "NO_SHARED_MEMORY" }
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includedirs {"..","../../../src", "../../ThirdPartyLibs","../../ThirdPartyLibs/clsocket/src"}
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links {
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"clsocket","Bullet3Common","BulletInverseDynamicsUtils", "BulletInverseDynamics", "BulletDynamics","BulletCollision", "LinearMath", "BussIK"
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}
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if os.is("Windows") then
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defines { "WIN32" }
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links {"Ws2_32","Winmm"}
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end
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if os.is("Linux") then
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defines {"_LINUX"}
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end
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if os.is("MacOSX") then
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defines {"_DARWIN"}
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end
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language "C++"
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myfiles =
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{
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"../IKTrajectoryHelper.cpp",
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"../IKTrajectoryHelper.h",
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"../SharedMemoryCommands.h",
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"../SharedMemoryPublic.h",
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"../PhysicsServerCommandProcessor.cpp",
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"../PhysicsServerCommandProcessor.h",
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"../TinyRendererVisualShapeConverter.cpp",
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"../TinyRendererVisualShapeConverter.h",
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"../../TinyRenderer/geometry.cpp",
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"../../TinyRenderer/model.cpp",
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"../../TinyRenderer/tgaimage.cpp",
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"../../TinyRenderer/our_gl.cpp",
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"../../TinyRenderer/TinyRenderer.cpp",
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"../../OpenGLWindow/SimpleCamera.cpp",
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"../../OpenGLWindow/SimpleCamera.h",
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"../../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
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"../../Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
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"../../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
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"../../Importers/ImportURDFDemo/MyMultiBodyCreator.h",
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"../../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
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"../../Importers/ImportMJCFDemo/BulletMJCFImporter.h",
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"../../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
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"../../Importers/ImportURDFDemo/BulletUrdfImporter.h",
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"../../Importers/ImportURDFDemo/UrdfParser.cpp",
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"../../Importers/ImportURDFDemo/urdfStringSplit.cpp",
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"../../Importers/ImportURDFDemo/UrdfParser.cpp",
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"../../Importers/ImportURDFDemo/UrdfParser.h",
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"../../Importers/ImportURDFDemo/URDF2Bullet.cpp",
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"../../Importers/ImportURDFDemo/URDF2Bullet.h",
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"../../Utils/b3ResourcePath.cpp",
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"../../Utils/b3Clock.cpp",
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"../../Utils/RobotLoggingUtil.cpp",
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"../../Utils/RobotLoggingUtil.h",
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"../../../Extras/Serialize/BulletWorldImporter/*",
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"../../../Extras/Serialize/BulletFileLoader/*",
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"../../Importers/ImportURDFDemo/URDFImporterInterface.h",
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"../../Importers/ImportURDFDemo/URDFJointTypes.h",
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"../../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
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"../../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
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"../../Importers/ImportSTLDemo/ImportSTLSetup.h",
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"../../Importers/ImportSTLDemo/LoadMeshFromSTL.h",
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"../../Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
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"../../Importers/ImportColladaDemo/ColladaGraphicsInstance.h",
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"../../ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
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"../../ThirdPartyLibs/tinyxml/tinystr.cpp",
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"../../ThirdPartyLibs/tinyxml/tinyxml.cpp",
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"../../ThirdPartyLibs/tinyxml/tinyxmlerror.cpp",
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"../../ThirdPartyLibs/tinyxml/tinyxmlparser.cpp",
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"../../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp",
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"../../ThirdPartyLibs/stb_image/stb_image.cpp",
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}
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files {
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myfiles,
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"main.cpp",
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}
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